Tissue excision, cutting, and removal systems and methods

ABSTRACT

The disclosure provides various embodiments of catheters having articulable ends that can be used for various procedures. Embodiments of methods are also provided that can be performed with catheters in accordance with the present disclosure.

CROSS-REFERENCE TO RELATED APPLICATION

The present patent application is a continuation of and claims the benefit of priority to International Application No. PCT/US20/55160, filed Oct. 9, 2020, which in turn claims the benefit of priority to, U.S. Patent Application No. 62/913,150, filed Oct. 9, 2019, U.S. Patent Application No. 62/913,158, filed Oct. 9, 2019, U.S. Patent Application No. 62/924,358, filed Oct. 22, 2019, U.S. Patent Application No. 62/939,907, filed Nov. 25, 2019, U.S. Patent Application No. 62/939,877, filed Nov. 25, 2019. U.S. Patent Application No. 63/047,995, filed Jul. 3, 2020, U.S. Patent Application No. 63/052,450, filed Jul. 15, 2020, U.S. Patent Application No. 63/077,579, filed Sep. 12, 2020. This patent application is also related to U.S. patent application Ser. No. 16/563,925, filed Sep. 8, 2019, which in turn claims the benefit of U.S. Patent Application Ser. No. 62/728,413, filed Sep. 7, 2018, and International Patent Application No. PCT/US18/48177, filed Aug. 27, 2018, which in turn claims the benefit of priority to U.S. Provisional Application Ser. No. 62/550,347, filed Aug. 25, 2017, U.S. Provisional Application Ser. No. 62/567,203, filed Oct. 2, 2017, U.S. Provisional Patent Application Ser. No. 62/663,518, filed Apr. 27, 2018, U.S. Provisional Application Ser. No. 62/688,378, filed Jun. 21, 2018, and U.S. Provisional Patent Application Ser. No. 62/712,194, filed Jul. 30, 2018. Each of the foregoing patent applications is incorporated by reference herein in its entirety for any purpose whatsoever.

BACKGROUND

The disclosure relates generally to medical treatment devices and techniques, and, in some aspects, to methods and devices for diagnosis and treatment of cardiac valves. The present disclosure provides improvements over the state of the art.

SUMMARY OF THE DISCLOSURE

The present disclosure provides various systems and methods for removing clips, cysts and other structures from valve leaflets. The disclosure further provides systems for modifying or removing luminal valve leaflets. The disclosure also provides other innovations, as set forth below.

BRIEF DESCRIPTION OF THE FIGURES

FIGS. 1A-1D are illustrations of a first device in accordance with the present disclosure.

FIGS. 2A-2D are illustrations of a second device in accordance with the present disclosure.

FIGS. 3A-3C show aspects of a first embodiment of a guide wire used in an electrosurgical procedure in accordance with the disclosure.

FIG. 4 shows aspects of a second embodiment of a guide wire used in an electrosurgical procedure in accordance with the disclosure.

FIGS. 5A-5B present views of a grasping catheter or manipulator in accordance with the present disclosure.

FIG. 5C presents a further embodiment of a grasping catheter in accordance with the present disclosure.

FIG. 6 illustrates a cross sectional view of an extruded main body portion of an illustrative catheter in accordance with the disclosure.

FIGS. 7A-7D present various embodiments of a dual lumen catheter in accordance with the present disclosure.

FIG. 8 presents the embodiment of FIG. 7A including a snare catheter disposed through the minor lumen for effectuating capture, for example, of a guidewire in a medical procedure.

FIGS. 9A-9B illustrate an articulating catheter having two preformed bends that resume their bent shape when advanced distally from the main catheter.

FIG. 10 illustrates an illustrative cross section of a catheter in accordance with the present disclosure.

FIGS. 11A-11C present various views of a further embodiment of a catheter in accordance with the present disclosure.

FIGS. 12A-12E present views of still a further catheter in accordance with the present disclosure.

FIGS. 13A-13C present views of a procedure using the embodiment of FIGS. 12A-12E with respect to the anatomical structure of a tricuspid valve.

FIGS. 14A-22G illustrate aspects of a first clip or cyst removal system in accordance with the disclosure.

FIGS. 23A-30D illustrate aspects of a leaflet removal system in accordance with the disclosure.

FIGS. 31A-32 illustrate aspects of a guidewire in accordance with the present disclosure.

FIGS. 33-63 illustrate aspects of methods and systems to remove aortic valve leaflets in accordance with the disclosure.

FIGS. 79A-81B illustrate aspects of a further guidewire denuding system in accordance with the disclosure.

FIGS. 82A-104 illustrate aspects of methods and systems for coupling valve leaflets in accordance with the disclosure.

FIGS. 105-114 illustrate aspects of still a further guidewire denuding system in accordance with the disclosure.

DETAILED DESCRIPTION

For purposes of illustration, and not limitation, exemplary embodiments of a catheter, which can also be used as a robotic manipulator, are presented in FIGS. 1A-1D and 2A-2D. For purposes of simplicity but not limitation, the devices are typically referred to herein as “catheters” but it will be understood by those of skill in the art that they can equally be considered to be robotic manipulators. Thus, all embodiments herein can be provided with manual actuators at their proximal end as is the case with catheters typically, or they can instead be connected to a robotic or pantograph manipulator system including but not limited to those manufactured by Intuitive Surgical of Sunnyvale, Calif. Such robotic or remote actuators can be found, for example, in U.S. patent application Ser. No. 15/580,629, filed Dec. 7, 2017 which is incorporated by reference herein in its entirety for all purposes.

With reference to FIGS. 1A-1D, an elongate catheter is provided having a proximal end and a distal end. The catheter includes an elongate tubular main body 22 having a proximal end, a distal end, and defining at least one elongate passage therethrough. The elongate tubular main body defining a longitudinal axis along its length.

The catheter includes a first elongate inner body 10 having a proximal end and a distal end. The inner body 10 is illustrated with an illustrative cone-shaped atraumatic distal tip 24 that is configured to spread applied stress out over a larger area, which can be of particular benefit when contacting delicate anatomical structures. The first elongate inner body 10 is slidably disposed within the at least one elongate passage of the elongate tubular main body 22.

Also illustrated is a second elongate inner body 20 having a proximal end and a distal end that is slidably disposed within the at least one elongate passage of the elongate tubular main body 22, which is suitably configured to maintain registration of bodies 10 and 20 with respect to each other and hold them together. Bodies 10 and 20 can be housed in a common passage, or in individual passages defined within body 22. Body 20 is slidably disposed with respect to the first inner body 10, wherein an exposed distal region 26 of body 20 is illustrated as protruding beyond the distal end of main body 22.

As illustrated, the distal end of the first and second inner elongate bodies 10, 20 are preferably biased or otherwise configured to be curled or steered away from the longitudinal axis in a proximal direction when the first elongate inner body is advanced distally with respect to the main body by virtue of inner body 10 being removed from body 22. Bodies 10, 20 can be configured to curl as illustrated when advanced distally from body 22 by making bodies 10, 20 at least in part from shape memory materials, and/or by utilizing a steering wire that travels the length of the body 10, 20 that is attached to a distal end of each of the bodies 10, 20, such as by way of a ring (e.g., a radiopaque marker band) that is attached to the distal end of the bodies. In another embodiment, one or more of bodies 10, 20 can be formed at least in part by thermoplastic or other polymeric or composite material that is molded with a preformed bend therein. Such a pre-bent or pre-formed body 10, 20 can then be loaded, for example, into main body 22, wherein main body 22 maintains the bodies 10, 20 in a straight orientation until they bodies 10, 20 are advanced distally with respect to main body 22, at which time they revert to their curved shape and regain at least some of their original curvature.

Main body 22 can simply be an overwrap or a sheath in some implementations that functions to maintain the bodies 10, 20 in a parallel relationship and optionally maintains the bodies 10, 20 in a relative orientation until the bodies 10, 20 are advanced distally with respect to body 22. In other implementations, body 22 can be more sophisticated such as a multi-lumen extrusion including a plurality of lumens for slidably containing bodies 10, 20, and other devices, as desired. In lieu of a main body 22 or overwrap, bodies 10, 20 can alternatively be fused or adhered to each other, or be provided with an adjustable coupling that runs their lengths that permits relative slidability of bodies 10, 20. For example, body 10 can be provided with a rib along the majority of its length (e.g., except for the distal most 5-10 cm) having a “T”-shaped cross section, wherein the base of the T adjoins the body 10, and body 20 can be provided with a “C”-shaped channel along its length that slidably receives the T-shaped rib.

If desired, each of the first elongate inner body 10 and second elongate inner body 20 can each define one or more lumens along their respective lengths. The lumen(s) can be used, for example, for passage of a further medical instrument such as a guidewire or viewing scope, for directing electrical conductors, and the like, and/or for passage of a steering wire along the length of body 10, 20 terminating, for example, in a marker band at the distal end of body 10, 20 that the steering wire attaches to. Other examples of suitable steering mechanisms can be found in U.S. Pat. Nos. 6,030,360, and 6,579,278, which are incorporated by reference herein in their entireties for any purpose whatsoever. Either body 10, 20 if equipped with such a passage can additionally or alternatively include a movable body (e.g., core wire, snare catheter, etc.) slidably disposed therein.

If the passage within body 10 includes a snare catheter (such as that described in U.S. patent application Ser. No. 13/824,198, filed May 1, 2013, which is annexed to U.S. Provisional Application Ser. No. 62/567,203, filed Oct. 2, 2017, as US2013/0211510, and is expressly incorporated by reference herein for any purpose whatsoever), the snare catheter can be directed out of the distal end of body 10 to provide a landing or target zone for a guidewire that is directed through the distal end of body 20 (not shown). This permits a guidewire that traverses through the distal end of the body 20 to be captured by the snare catheter that extends outwardly from body 10, thereby permitting the guidewire extending from the distal end of body 20 to be pulled into the distal end of body 10, and advanced through the body 10 and externalized or otherwise directed out of the proximal end of body 10 (not shown).

If desired, the guidewire disposed in body 20 can include an electrically conductive core wire surrounded by a jacket made from dielectric/insulating material. The jacket can be removed from a portion of the core wire to expose a portion of the core wire. In a further embodiment, as illustrated in FIGS. 3A-3C, the guidewire can include a core wire that is in turn surrounded by a first insulating layer. As illustrated in FIG. 3A, the guidewire 300 can have an electrically conductive core wire 320 surrounded by a jacket 320 made from dielectric material, such as PTFE or other suitable material. The jacket can be stripped off on one side to create an exposed region 330 of the core wire 320. The exposed region can include one or more marker bands to denote either end of the exposed region 330, or may be placed in any other desired location to enhance visibility of the exposed region 330 under visualization in actual use. The ends of the core wire 320 can likewise be exposed, and the wire can be bent in half so that the exposed core wire 320 faces itself. When the exposed ends 340 of the core wire 320 are then connected to a generator (not shown) in a bipolar arrangement in this case to cause current to pass through the core wire, in the exposed region of the core wire that is bent over, an electrical discharge, or arc, can develop that jumps across the gap (rather than the current passing only along the core wire) that can be used to help cut and/or burn through tissue by pulling the exposed wire through the tissue.

If desired, the guidewire can be provided with more than one conducting layer as embodiment 400 in FIG. 4. Guidewire 400 has an exposed proximal end 402 connected to a distal tip (in this case in the shape of a metallic ball 404, and an elongate core wire 406. A first insulating layer 408 (made of a polymeric layer, for example), is disposed about the core wire 406 along its length, but leaving the tip 404 and proximal end 402 exposed. Proximal end 402 can be electrically coupled to a signal generator, and the current can pass, for example, through the distal tip 404 and follow a return path to a conductive path (not shown) through the patient's body (monopolar arrangement) to the electrical generator. This is a useful arrangement for cutting through tissue with the tip of the guidewire 400. If desired, a beneficial agent may be injected through one or more arms of the system to the cutting site, such as nonionic 5% dextrose, in order to reduce the non-target conduction and enhance to laceration. Guidewire 400 further includes a second electrical conductor, or conducting layer, 410, is disposed at least partially about, or at least radially outwardly from, the first insulating layer 408. The second electrical conductor/conducting layer 412, in turn, can in turn be surrounded by an outer insulating layer 420. The outer insulating layer can be removed to expose a portion of the second electrical conductor/conducting layer to define an exposed portion 424 of the second electrical conductor/conducting layer. As illustrated, portion 424 is facing laterally outwardly to permit a cut to be performed by moving the guidewire 400 laterally to the side, when a proximal end of the layer 410 is attached to a signal generator. Current then flows through the exposed portion 424 and through the tissue to a conductive pad that is attached to a return path of the signal generator. Conductive layer 410 can be a continuous layer, such as a tubular layer, or can be an interrupted layer, wherein a conductive path is nonetheless maintained from the exposed patch 424 to the proximal end of the conductive layer 410.

Conductive layer 410 can be formed, for example, from a metallic tube, such as a hypotube, in turn be defined by a tubular body that defines at least one opening 422 therethrough. For example, the at least one opening can be spiral shaped (via laser cutting) and winds around the first insulating layer, resulting in the remaining conductive material also winding around the first insulating layer. Alternatively, the at least one opening and the tubular body define a plurality of articulating segments, similar to those defined in U.S. Pat. No. 8,530,783, Feb. 3, 2010, U.S. Pat. No. 5,605,543, filed Jan. 30, 1996, U.S. patent application Ser. No. 10/969,088, filed Oct. 20, 2004, or WO2017117092, each of which is incorporated by reference herein in its entirety for any purpose whatsoever and appended to U.S. Provisional Application Ser. No. 62/567,203, filed Oct. 2, 2017.

The disclosure also provides an electrosurgical system including a radio frequency power supply (such as that described in U.S. Pat. No. 6,296,636, which is incorporated by reference herein in its entirety for any purpose whatsoever and annexed to U.S. Provisional Application Ser. No. 62/567,203, filed Oct. 2, 2017) operably coupled to the electrically conductive core wire of the elongate catheters (and/or of the second conductors of catheters) disclosed herein. Thus, the radio frequency power supply can be operably (and selectively) coupled to the electrically conductive core wire and to the second electrical conductor, as desired. Similarly, the disclosure also provides an ultrasonic surgical system, such as an ultrasonic scalpel, including an ultrasonic power source, such as that disclosed in U.S. Pat. No. 6,514,267, which is incorporated by reference herein in its entirety for any purpose whatsoever.

In further embodiments, and with reference to FIGS. 5A-5B, the body (e.g., 20) of the catheter can be configured so as to penetrate an anatomical structure, such as a heart valve leaflet 475, prior to passing into the lumen of the first elongate inner body. Tip(s) 24 of the catheter can grip the leaflet and align the passages in the arms of the catheter to permit a guidewire (e.g., 300, 400) to pierce the leaflet and pass through the catheter arms. Piercing can be accomplished (preferably under imaging, such as fluoroscopy) with a sharpened tip and cuff connection, electrosurgical or ultrasonic cutting tip (e.g., 404). Typically, the leaflet (e.g., 475) is penetrated or pierced in a region that is near or in the annulus 485 of the valve leaflet, most preferably where the annulus transitions to the leaflet base. The disclosed embodiments can be used to perform the procedures described in the journal publications annexed to U.S. Provisional Application Ser. No. 62/567,203, filed Oct. 2, 2017, which is incorporated herein by reference as set forth above (Khan 2016, Babaliaros 2017). When an electrically exposed portion of the guide wire is in alignment with the leaflet, the ends of the catheter can be withdrawn partially, the electrical current can be turned on, and the exposed portion of the guidewire can be pulled through the leaflet, cutting the leaflet.

This procedure for cutting the leaflet can be used in support of a variety of procedures where it is useful to cut a valve leaflet. For example, it can be very useful to perform such a cutting procedure for clearing space for a replacement valve, such as a replacement, mitral or tricuspid valve. The valve leaflets can be cut accordingly making space for a replacement valve to be installed in any desired manner. Moreover, such cutting methods can be used to remove other structures that are no longer desired in the anatomy. For example, if an Alfieri stitch, or a clip, is used to attach a portion of two leaflets to each other, the disclosed embodiments can be used to cut through one or both of the leaflets to free them from each other, and to also prepare the site, if desired, for a replacement valve, such as by forming one or more additional cuts in each native leaflet, and/or removing a portion of, or substantially the entirety of, or the entirety of, one or more of the native leaflets. If desired, all the leaflets can be removed, and any structures attached thereto (e.g., chordae) can also be cut and/or removed. In some implementations, a suture or clip (e.g., a MitralClip) can be removed from a patient's mitral valve, after which further therapeutic steps can be performed including repair of the valve leaflets, reshaping of the valve leaflets, removing all or a portion of one or all leaflets, or cutting the leaflets and any chordae out of the way, as desired, to make room for a replacement valve.

Similar procedures for resecting or cutting tissue anywhere in the body can be used by utilizing devices and methods in accordance with the present disclosure. Such procedures can be used for cutting valve leaflets, for example, in any of the cardiac valves, any valves in veins, such as the IVC, or for cutting any other anatomical structures in the body.

Any suitable power level and duty cycle can be used in accordance with the disclosed embodiments. For example, continuous duty cycle (cutting) radiofrequency (“RF”) energy can be used, for example, at a power level between about 50 and 100 Watts, or any increment therebetween of about one watt. The cuts can be made by applying power for between about one half of a second and about five seconds, or any increment therebetween of about one tenth of a second.

FIG. 5C presents an alternative embodiment of a grasping catheter 500 that can be used in place of a pair of catheters simply for grasping the edge of a leaflet 475. The catheter 500 includes a tubular outer body 510 having a proximal end, a distal end and a longitudinal passage therethrough. An internal slidable gripping mechanism is slidably disposed within the lumen of outer body 510 that includes a proximal actuator or handle 502 that is connected to an elongate inner body 518 that separates at a bifurcation 516 into a first arm 512 and a second arm 514, that in turn terminate in inwardly pointed gripping ends 524, 526. Arms 512, 514 are biased away from each other, and can be urged together by withdrawing the arms and accompanying tips toward the distal end of the tubular member 510. Accordingly, by controlling the relative placement of the inner mechanism and outer tube, the jaws formed by arms 512, 514 and gripping ends 524, 526 can be opened and closed. Catheter 500 can be used as a sub-catheter in any embodiment herein.

As a further example, the movable body (e.g., 20, or a slidable device within a lumen defined by body 20) can include a dart passer that is configured to advance a dart having a suture attached thereto out of the distal end of the second elongate inner body and into a receiving cuff disposed in the lumen of the first elongate inner body, in accordance with the teachings of US2013/0310853, which is incorporated by reference herein in its entirety for any purpose whatsoever. For example, the receiving cuff can be disposed within a lumen defined in body 10 at is attached to a filament/suture that passes through the lumen of body 10 that can receive a dart attached to or resting on the distal end of a hypotube that is advanced through body 20, wherein the dart has a trailing suture that passes through the body of the hypotube. After connecting the dart and cuff, the suture attached to the cuff or the suture attached to the dart can be advanced withdrawing the coupling from the patient, and leaving behind the looped suture.

In accordance with further aspects, the rotational position of the first elongate inner body 10 can be fixed with respect to the rotational position of the second elongate inner body 20. Or, if desired, the rotational positions of each of body 10 and 20 can be controlled by a user at a control actuator/Luer lock at a proximal location of the catheter.

In accordance with further aspects, and as presented in FIGS. 2A-2D, the catheter can further include a third elongate inner body 30 having a proximal end and a distal end that is slidably disposed within the at least one elongate passage of the elongate tubular main body, the distal end of the third inner elongate body being biased (or otherwise configured, e.g. via steering wire) to curl away from the longitudinal axis in a proximal direction when the third elongate inner body is advanced distally with respect to the main body. If desired, the catheter can further include a fourth elongate inner body 28 having a proximal end and a distal end that is slidably disposed within the at least one elongate passage of the elongate tubular main body, and slidably disposed with respect to the third inner body. The distal end of the fourth inner elongate body 28 can be biased or otherwise configured to curl away from the longitudinal axis toward the proximally oriented distal end of the third elongate inner body 30 when the fourth elongate inner body is advanced distally with respect to the main body. Any suitable number of such inner bodies can be provided, depending on the procedure being performed.

As with the embodiment of FIGS. 1A-1D, the third elongate inner body 30 and fourth elongate inner body 28 can define a lumen along their lengths. The lumen of the fourth elongate inner body 28 can include a device as described elsewhere herein (guidewire, snare catheter) slidably disposed therein having a distal end that is configured to be received by the lumen of the third elongate inner body at the proximally facing distal end of the third elongate inner body.

Each of bodies 10, 20, 22, 28, 30 can be made from a variety of materials, including multilayer polymeric extrusions, such as those described in U.S. Pat. No. 6,464,683 to Samuelson or U.S. Pat. No. 5,538,510 to Fontirroche, the disclosure of each being incorporated by reference herein in its entirety. Other structures are also possible, including single or multilayer tubes reinforced by braiding, such as metallic braiding material. Any of the catheters, manipulators, guidewires, or other catheters disclosed herein or portions thereof (e.g., portions 10, 20, 22, 28, 30) can be provided with regions of varying or stepped-down stiffness with length using any of the techniques set forth in U.S. Pat. No. 7,785,318, which is incorporated by reference herein in its entirety for any purpose whatsoever.

Preferably, the bodies 10, 20, 28, 30 have a decreased stiffness along their length, particularly in their distal regions by adjusting the cross-sectional dimensions of the material to impact stiffness and flexibility, while maintaining pushability, as well as the durometer of the material. Hardness/stiffness is described herein with reference to Shore hardness durometer (“D”) values. Shore hardness is measured with an apparatus known as a Durometer and consequently is also known as “Durometer hardness”. The hardness value is determined by the penetration of the Durometer indenter foot into the sample. The ASTM test method designation is ASTM D2240 00, an example of which is annexed to U.S. Provisional Application Ser. No. 62/567,203, filed Oct. 2, 2017. For example, a more proximal region of the catheter can have a durometer of about 72 D, an intermediate portion of the catheter (the proximal most 20-30 cm of the last 35 cm, for example that typically traverses an aortic arch) can have a durometer of about 55 D, and the distal 5-10 cm of the catheter can have a durometer of about 35 D.

Any surface of various components of the system described herein or portions thereof can be provided with one or more suitable lubricious coatings to facilitate procedures by reduction of frictional forces. Such coatings can include, for example, hydrophobic materials such as PolyTetraFluoroEthylene (“PTFE”) or silicone oil, or hydrophilic coatings such as Polyvinyl Pyrrolidone (“PVP”). Other coatings are also possible, including, echogenic materials, radiopaque materials and hydrogels, for example.

One or more actuators can be provided to actuate relative proximal and distal movement of bodies 10, 20, 28, 30 with respect to main body 22. Such actuators typically provide either two handles for push-pull actuation, or the actuator can be more exotic. For example, it is also possible to use other actuators as are known in the art, such as threaded rotating actuators similar to those for retractable sheaths as described in U.S. Pat. No. 6,488,694 to Lau and U.S. Pat. No. 5,906,619 to Olson, the specifications of which are incorporated herein by reference.

With reference to FIGS. 3 and 4, the disclosure also provides a method that includes providing an electrosurgical system as described hereinabove, deploying the distal end of the catheter into a patient's vasculature to a target location proximate the patient's valve, deploying the first elongate inner body so that the distal end of the first elongate inner body curls around the edge of the patient's valve leaflet, deploying the second elongate inner body so that the distal end of the second elongate inner body bends toward the distal end of the first elongate inner body, directing the guidewire out of the distal end of the second elongate inner body, through the patient's valve leaflet near the valve annulus (such as where the annulus transitions to the base of the leaflet), and into the lumen of the first elongate inner body, advancing the guidewire until the exposed portion of the core wire or second conductor is located in a gap defined between the distal end of the first elongate inner body and the distal end of the second elongate inner body that coincides with the valve leaflet, wherein the exposed portion of the core wire is facing in a proximal direction, energizing the power supply of the electrosurgical system, and advancing the exposed portion of the core wire or second conductor through at least a portion of the valve leaflet to effectuate a cut in the valve leaflet.

As described herein, when practicing the illustrative methods, the exposed portion of the core wire or second conductor can be advanced through the valve leaflet through a peripheral edge of the valve leaflet. In some implementations, the valve leaflet can be a mitral valve leaflet, such as a native or artificial/replacement anterior or posterior mitral valve leaflet, or a native or artificial/replacement tricuspid, pulmonary or aortic valve leaflet. It will be appreciated that the disclosed systems can be used with respect to any suitable native or artificial/replacement valve leaflet.

The disclosure also provides a robotic manipulator having a proximal end and a distal end that includes an elongate tubular arm having a proximal end, a distal end, and defining at least one elongate passage therethrough, the elongate tubular arm defining a longitudinal axis along its length. The manipulator further includes a first elongate inner body having a proximal end and a distal end that is slidably disposed within the at least one elongate passage of the elongate tubular arm, the distal end of the first inner elongate body being biased (or otherwise configured, such as pre-forming and/or steering wire) to curl away from the longitudinal axis in a proximal direction when the first elongate inner body is advanced distally with respect to the arm. The manipulator can further include a second elongate inner body having a proximal end and a distal end that is slidably disposed within the at least one elongate passage of the elongate tubular arm that can be slidably disposed with respect to the first inner body. The distal end of the second inner elongate body can be biased to curl away from the longitudinal axis toward the deployed proximally oriented distal end of the first elongate inner body when the second elongate inner body is advanced distally with respect to the arm.

At least one of the elongate tubular arm, first elongate inner body or second elongate inner body can be connected to an axial actuator, wherein the actuator is configured to advance the component to which it is connected along a direction parallel to the longitudinal axis. Moreover, at least one of the elongate tubular arm first elongate inner body or second elongate inner body can be connected to a rotational actuator, wherein the rotational actuator is configured to rotate one or more of the elongate tubular arms, first elongate inner body and second elongate inner body.

At least one of the first elongate inner body and second elongate inner body can include an end effector attached thereto configured to perform at least one of a cutting, grasping, irrigating, evacuating, viewing or suctioning function. If desired, the end effector can include one or more of an electrosurgical device, a blade, and an ultrasonic transducer.

The disclosure also provides implementations of a laparoscopic, urinary, gynecological, neurological, or orthopedic surgical procedure utilizing the catheters or robotic manipulators disclosed herein. The disclosed catheters/manipulators can also be used in any suitable minimally invasive procedure, or a percutaneous procedure.

For example, the percutaneous procedure can include utilizing one or more of the disclosed devices to access a patient's sinus passages. The devices can be used, for example, to remove one or more polyps, and can even be used to breach a thin bony layer within the sinuses to access the cranial cavity to perform a procedure inside the cranial cavity.

In other embodiments, the percutaneous procedures disclosed herein can include an ablation procedure, such as within the heart of a patient or elsewhere, as well as a cryoablation procedure. The disclosure also provides suitable handles and actuators (illustrated in the Appendix of U.S. Provisional Application Ser. No. 62/567,203, filed Oct. 2, 2017, for example) for controlling one or more of the first elongate inner body, second elongate inner body and elongate tubular main body.

In further accordance with the present disclosure, FIG. 6 illustrates a cross sectional view of an extruded main body portion 600 of a further embodiment of a catheter. The body includes an extrusion defining two offset channels 610, 620. A first channel 610 is illustrated as having a generally circular cross-section, and the second channel 620 that is parallel thereto is illustrated as having a cross-section that is circular with a scalloped portion removed in order to accommodate the channel with the circular cross section. The main body 600 can be made from any suitable polymeric material, such as those set forth herein. The main body can be formed from a multilayer polymeric extrusion with one or more reinforcement (e.g. layers of braiding) formed thereon or therein. The main body can be coated with any suitable coating or material to enhance its lubricity, as desired.

FIG. 7A presents a side view of the illustrative catheter of FIG. 6 including the main shaft 600 described above, provided with at least one braided layer. The catheter further includes a distal tubular segment extending distally from main shaft 600 that defines therein lumen 610 that is radially co-located with the first channel of the main body. For example, the distal tubular segment can be an extruded tube that extends the full length along the inside of the main body to a proximal end of the catheter. The distal tubular segment may similarly be braided if desired, may be pre-curved as described elsewhere herein and/or can be deflectable, for example, by providing a pull wire within the lumen of the distal segment, or within a co-extruded lumen of the distal segment (not specifically illustrated). A distal end of the pull wire (not shown) can be attached to a collar embedded within or on the distal tubular segment, as desired. As illustrated in FIG. 7B, the distal tubular segment and its associated channel that it surrounds can be used to act as a guidewire lumen, permitting the catheter to be used as an over the wire catheter, or for delivering a lower profile catheter therethrough, such as a snare catheter, as set forth in further detail below.

FIG. 7C illustrates an embodiment wherein the larger/major, e.g., non-circular, lumen defined in the main body can act as a delivery lumen for a catheter that can be steerable (e.g., by a steering wire) or that can have a curve preformed into it (e.g., by heating and bending the catheter if polymeric in composition) that the catheter can assume after it is advanced distally out of the distal end of the major lumen of the main body. As presented in FIG. 7D, the distal tubular segment can be provided with a further tubular member disposed thereon, or integrated therewith in a co-extrusion, that can act as a guidewire lumen to facilitate a rapid exchange (“RX”) procedure with the guidewire rather than having the guidewire traverse the entire length of the catheter as in an over the wire (“OTW”) procedure.

FIG. 8 presents the embodiment of FIGS. 7A-7D, but including a snare catheter 800 disposed through the minor lumen for effectuating capture, for example, of a guidewire in a mitral cerclage procedure as set forth in U.S. patent application Ser. No. 15/796,344, filed Oct. 27, 2017. Further aspects of the snare catheter can be seen in that application, as well as in U.S. Provisional Patent Application Ser. No. 62/615,309, filed Jan. 9, 2018. Each of the foregoing applications is hereby incorporated by reference for any purpose whatsoever. The present catheter can be used, for example, for such mitral cerclage procedures. For example, the snare catheter can be used to capture a guidewire while the major passage accommodates an articulating catheter as described hereinabove for grasping a cardiac valve leaflet, or other structure.

A further embodiment is presented in FIGS. 9A-9B, which illustrates an articulating catheter having two preformed bends that resume their bent shape when advanced distally from the main catheter. FIG. 10 illustrates a further possible cross section for the main catheter, wherein major and minor lumens 1010, 1020 are presented, but two additional steering wire lumens 1030 are presented. If desired, further steering wire lumens are presented that can be used for housing a pull wire that is attached at its distal end to a portion of the catheter (not shown), such as to a ring collar that is formed on or in the body of the catheter.

FIGS. 11A-11C display a further embodiment of a catheter in accordance with the disclosure (or aspects thereof) that includes a scoop on one of the articulating arms as presented. The scoop, or funnel, can help guide the other articulating arm into contact with it. If desired, permanent magnets can be added at the end of each articulating arm (not shown), or a winding around each end of the catheter can be made to form a solenoid on the end of each of the arms (not shown). When electrical current is run along the same helical direction through each solenoid, the created magnetic fields add to each other, and attract each other, causing the arms to move more closely together into contact. The force is directly proportional to the current that passes through the windings. Also illustrated is a push-pull actuator for relatively articulating each of the deployable limbs in the catheter. The disclosed catheter uses a toothed wheel, or gear, that rotates around an axle and engages a gear rack in a sliding track that in turn is attached to one of the articulating arms.

For purposes of illustration, and not limitation, FIGS. 12A-13C depict yet another embodiment of a catheter in accordance with the present disclosure.

FIG. 12 illustrates a further embodiment 1400 of a catheter. The distal end 1404 of catheter 1400 is depicted to highlight its functionality. Catheter 1400 also includes a proximal end and elongate body (not shown) having one or more actuators to manipulate the various sub-components of catheter 1400 described in detail below. Catheter 1400 is defined by an outer tubular member having a proximal end, a distal end 1404, and defines an elongate passage therethrough along its length. Elongate passage slidably accommodates an intermediate tubular member 1450 therein having a proximal end (not shown), a distal end 1452 and in turn also defining a passage along its length for slidably receiving a subassembly therein including at least one further catheter, tool or manipulator. As illustrated in FIGS. 12A-E, a subassembly is provided slidably received within intermediate tubular member 1450 that includes a central tubular member 1410 having a proximal end, a distal end 1414, and defining a passage along its length, for example, for receiving a guidewire for guiding catheter 1400 to a target location. As illustrated, central tubular member 1410 is a straight member, but can be imparted with a curvature if desired. The subassembly further includes a second tubular member 1420 having a proximal end (not shown), a distal end 1424 and an elongate body defining a central lumen along its length. Second tubular member 1420, as illustrated, has a curvature imparted to it. Also provided are collapsible loops 1430, 1440, which may be made from any suitable material. The particular loops illustrated are formed from nitinol. Each loop is defined by a filament that can include a stress distribution loop (1432, 1442) formed therein that traverses 360 degrees or more. Providing a stress distribution loop facilitates collapse of the loops 1430, 1440 by distributing the bending stress over a longer effective length of wire. The material from which loops 1430, 1440 is formed can extend to the proximal end of the catheter 1400, or may be secured in the distal ends of additional tubular members (not shown) that are slidably disposed in intermediate tubular member 1450. Loops can be made, for example, from shape memory material such as various nickel titanium alloys.

As illustrated, the subassembly within tubular member 1450 can be both slidably and rotatably movable with respect to the outer tubular member of catheter 1400. If desired, each of the subcomponents 1410, 1420, 1430 and 1440 may be slidably and rotatably movable with respect to each other, and the main body of the catheter 1400 as well as the intermediate tubular member 1450.

As illustrated in FIGS. 13A-13C, the embodiment 1400 is illustrated in use with respect to the structure of a tricuspid valve. In use, after the distal end 1402 of catheter 1400 is advanced, for example, to a tricuspid valve, the subassembly housed within intermediate tubular member 1450 is advanced distally out of distal end 1402 of catheter 1400, and the distal end 1414 of central tubular member 1410 can be directed through the center of the tricuspid valve between the leaflets. Next, the two loops 1430, 1440 are deployed and advanced under the leaflet against the center of each leaflet by the valve annulus. This permits tubular member 1420 to be positioned at the center of the third leaflet by the annulus. At this time, any desired instrument, such as a cutting wire or piercing instrument can be advanced through the leaflet at its edge by the annulus, such as to advance an electrosurgical cutting wire through the leaflet, permitting the cutting wire to be dragged radially inwardly through the leaflet to cut the leaflet in half. In accordance with a further example, a suture can be anchored by subassembly component 1420. The suture can then be used as a guide rail for delivering a prosthesis to be implanted over the leaflet, without cutting it in half first. It will be appreciated that catheter 1400 can be used in many different types of procedures and that these illustrations are only examples.

U.S. Patent Application No. 62/913,150, filed Oct. 9, 2019 and U.S. Patent Application No. 62/913,158, filed Oct. 9, 2019 set forth further implementations of a leaflet tissue excision system in accordance with the present disclosure. For purposes of illustration, and not limitation, these illustrative implementations of systems that can be used to remove valve clips, Alfieri stitches, cysts, tumors, or other structures, as desired, are set forth in FIGS. 14A-22G.

With specific reference to FIGS. 14A-14F, a removal system for a valve clip, cyst and the like is illustrated. The system includes a catheter that includes a deployable cutting snare and associated capture system. In particular, the catheter includes an inner tubular member having a proximal end and a distal end that includes a deployable cutting snare 1520 slidably disposed therein. The cutting snare can be deployed by advancing it distally, wherein the cutting snare is configured to form a loop that can surround a structure. After a structure has been surrounded, such as a mitral clip or the like, the snare can be withdrawn to permit it to cut through tissue or other structure, and the removed structure can be captured and withdrawn by the capture or holding snare 1510. The cutting snare 1520 can be electrified and be electrically exposed or denuded about its inner periphery to help it burn through tissue, and if desired can be electrically insulated about its outer periphery. As illustrated in FIG. 14C, the cutting snare forms a loop that is characterized by two parallel sections that bow outwardly to form a ring shape, wherein a distal end portion includes a further bend to form a distal tip. The distal tip is depicted at the top of the loop in FIG. 14C, and it is characterized by a sharp bend that transitions on each side to a sweeping arc to define a loop. The segments of the snare then bend orthogonally so as to travel inside the lumen of the inner tubular member, where they emerge on a proximal end of the catheter where they are attached to an actuator or handle that can pull the snare proximally with respect to the inner tubular member. The proximal ends of the snare catheter can be denuded and connected to a power supply capable of monopolar or bipolar operation, as desired. The distal portion of the snare catheter can be formed from heat treated shape memory material (e.g., a nickel titanium alloy) to expand into a hoop configuration as illustrated, or can be formed from a regular conductor that is configured to bow outwardly when unconstrained, as desired. The snare can include radiopaque material and the distal end of the inner tubular member can include a radiopaque marker, as desired to facilitate visualization of the catheter under visualization.

As further illustrated in FIGS. 14A-14F, the capture or holding snare 1510 can be mounted to the outside of and move with the inner tubular member, or may be mounted to an intermediate tubular member (having a respective proximal end, distal end and elongate tubular body) that slides over the inner tubular member to facilitate relative axial placement of the cutting snare and the capture snare. The capture or holding snare includes a collapsible basket formed, for example, from a laser cut hypotube formed into a stent-like pattern defined by zig-zag rows of struts or the like. A cinching tether is woven about an open distal end of the basket having at least one end (in the present embodiment two ends) that are threaded down an annular lumen defined between an outer surface of the intermediate tubular member (if provided, otherwise the outer surface of the inner tubular member) and an outer tubular member of the catheter (the outer tubular member having a respective proximal end, distal end and elongate tubular body). A distal end portion of the outer tubular member can be slightly enlarged, if needed, to accommodate the capture basket as illustrated. The basket can be made from a heat treated shape memory material (e.g., NiTi alloy, braided or non-braided composite metal, polymer, or formed polymer) so as to self-expand into a basket shape when unconstrained, wherein the distal mouth or opening of the basket includes the interwoven tether that is routed in and out of the fenestrations of the basket about the distal open end of the basket. By applying tension to a proximal end of the tether that is routed to the proximal end of the catheter, the looped tether at the end of the basket closes down and closes the basket, applying a hoop stress and grabbing force to any object that has been introduced into the basket, such as a mitral clip to be removed, tissue containing an Alfieri stitch, a cyst, polyp, or other undesired anatomical formation, as desired. As illustrated, the basket can be affixed to the intermediate tubular member using a radiopaque marker that surrounds the proximal end of the basket and the intermediate tubular member and a distal radiopaque marker band that surrounds a radially inner portion of the basket adjacent the intermediate tubular member and the intermediate tubular member itself. As illustrated, the intermediate tubular member includes a distal radiopaque marker so as to enhance visibility of the instrument under fluoroscopic visualization.

If desired, the outer tubular member of the catheter can include an enlarged distal segment as illustrated in FIG. 14F. FIGS. 14D and 14E illustrate deployment of the outer tubular member out of a distal end of a guiding catheter. FIGS. 14D and 14E respectively illustrate the laser cut portion pre and post-expansion, and FIG. 14F illustrates a relatively larger diameter distal portion on the delivery sheath or outer tubular member. Marker bands can be provided at the at the distal end of each tubular member of the catheter, and the snares and baskets of the catheter can include radiopaque material. If desired, the basket can be provided with an outer tubular layer of polymer coating or film so as to help house an excised clip or tissue segment, as desired. The outer tubular member can have a deflectable distal tip. In a further embodiment, the laser cut hypotube basket can be replaced with a polymeric tubular section that can expand about a mitral clip or other structure without buckling.

For purposes of further illustration, FIGS. 15A-15D present illustrative method steps that can be executed to remove a previously installed valve clip, in this illustration, a mitral clip, that is affixed to two coapting valves. This procedure is very advantageous as it is performed percutaneously or apically, as desired, while the patient's heart is beating, avoiding the need for open heart surgery and/or stopping the patient's heart. First a distal end of the catheter is introduced apically through a bottom wall of the ventricle underneath the mitral valve. The inner tubular member is advanced distally with respect to the outer tubular member or delivery sheath and the snare is deployed distally with respect to the inner tubular member so that it takes on a preformed hoop shape that orients itself orthogonally or approximately orthogonally with regard to a longitudinal axis of the catheter. The cutting snare is then positioned so as to surround tissue or be adjacent tissue near the leaflets, with the mitral clip (or other material to be removed, as desired) being surrounded by the cutting snare. Next, the intermediate tubular member bearing the capture basket is deployed distally from the distal end of the outer tubular member, and the open end of the capture basket is maneuvered over the mitral clip (or other material to be removed) so that the capture basket surrounds a majority of the mitral clip, as illustrated in FIG. 15B. Next, the top of the capture basket is cinched around an upper end of the mitral clip to mechanically capture it, as illustrated in FIG. 15C. Next, the cutting snare is withdrawn into the inner tubular member, cutting through valve leaflet tissue that is attached to the mitral clip. As mentioned above, the cutting snare can be electrified. The basket and inner tubular members can then be withdrawn proximally into the outer tubular member or delivery sheath, and be withdrawn. It will be appreciated that the intermediate tubular member could be omitted and the basket could instead be attached to the inner tubular member, but provision of the intermediate tubular member can provide an additional degree of mechanical freedom when performing the procedure.

In a further implementation, FIGS. 16A-16E present a further remover device that can be used to remove a clip, cyst, stitch or the like in accordance with the present disclosure. FIG. 16A illustrates that the device includes an outer tubular member or outer delivery catheter housing having a proximal end and a distal end that surrounds and slidably receives an intermediate tubular member (having a proximal end and a distal end) having clip or cyst housing with a cutter tip at a distal end region thereof. Within the intermediate tubular member, an inner catheter is slidably received that includes a deployable gripper to grab a clip or other structure to be removed from a patient's anatomy. As illustrated, the gripper includes three gripping arms that are configured to bias radially outwardly when unconstrained. Each gripping arm can be formed from a planar strip of material that terminates in a converging distal tip. As illustrated, each gripping arm has a proximal end affixed to a distal end of an inner tubular member or solid member of the inner catheter. Each arm, as illustrated, then has a preformed bend that bends the arm radially outwardly, and then bends radially inwardly as the arm approaches a tapered distal tip. Two, four or more gripping arms can be used, as desired. The gripping arms can be formed from polymeric or metallic material, as desired, and may be formed from shape memory material or material that is formed to otherwise spring outwardly when radially unconstrained. The griping arms can be configured so as to collapse radially inward when pulled proximally into a tubular member, such as the cutter tip of the illustrated catheter. The gripper can be withdrawn proximally into the clip or cyst housing of the intermediate tubular member, and the intermediate tubular member can be withdrawn proximally into a distal end region of the outer delivery catheter housing. FIG. 16B shows an enlarged view of the distally extended gripper. FIG. 16E illustrates different implementations of cutting tips that can be used for the cutter tip of the intermediate tubular member. For example, the cutting tip can include a round coring edge characterized by a sharpened annular surface, or may include a distal end that terminates in one or two cutting edges that are tapered extensions of the tubular wall that are sharpened along one or both edges to cut tissue when the intermediate tubular member is rotated with respect to an anatomical structure that the cutting tip or tips have been pushed against. As illustrated in FIG. 16C, the cutter housing of the intermediate tubular member is retracted into the outer delivery catheter until it is delivered, and it is then advanced distally into a position where it cuts leaflet tissue, for example, when rotated, as illustrated in FIG. 16D.

As illustrated in FIG. 17A-17I, the device of FIG. 16 can be used to grip and excise an object, such as a mitral clip. FIG. 17A illustrates simulated relative placement of the catheter below an existing mitral clip. FIG. 17B illustrates distal extension of the gripper out of the distal end of the outer tubular member or delivery catheter, up and over the clip or cyst such that the gripper surrounds the cyst. The cutter housing is then advanced distally with respect to the gripper so as to cause the radially outwardly biased arms of the gripper to be pushed inwardly under the force of the distally extending cutter housing, thereby grasping the clip or other structure. As illustrated in FIG. 17D, the outer sheath can then be advanced distally toward the leaflets. The cutter housing can then be distally advanced to contact and pierce the tissue as illustrated in FIG. 17E. FIG. 17F illustrates relative rotation of the cutter housing with respect to the tissue to cause the cutter to form a circular cut to remove an object from the anatomy, such as a mitral clip. Once the tissue or other material has been cut, the clip, cyst or other material can be retracted into the outer sheath and removed from the patient. As illustrated in FIGS. 17H and 17I, the clip or other removed material can then be expelled from the catheter after it has been removed from the patient.

FIGS. 18A-22G illustrate an implementation of a twisting catheter that can be used to twist a planar tissue structure or other structure, such as a native or replacement leaflet, withdraw it into a catheter to capture the tissue, which can then be cut off from surrounding anatomy.

Specifically, FIG. 18A illustrates a distal end region of a twisting catheter that includes an expandable basket similar to the embodiment of FIG. 16 above or a tubular end that includes a twisting catheter inside of it that may have two lumens to accommodate an electrified guidewire therein. Alternatively, as illustrated in FIGS. 18B and 18C, an inner elongate member can be provided with including a gripper as with the embodiment of FIG. 17 that is slidably disposed within an intermediate tubular member. FIG. 18D illustrates the guidewire of FIG. 18A having an electrified distal tip prior to being formed into a loop. FIG. 18C illustrates relative placement of an electrified snare catheter with respect to the twisting catheter and capture catheter, discussed in further detail below. The basket of the twisting catheter can be made of braided or non-braided composite metal, NITI, polymer, formed polymer, and the like. The electrified snare of FIG. 18E is fully insulated except at the distal loop and the proximal 0.5 inches which is connected to the RF generator. The electrified snare can be its own separate catheter, or it can be delivered through a long sheath that houses both the twisting catheter and the electrified snare.

FIGS. 19A-19D illustrate use of the system of FIG. 18 for excision of valve tissue. The leaflet excision device can be used to remove valve tissue from the aortic, mitral, tricuspid and pulmonic valves, for example. It can be used for valve-in-valve tissue removal or for native tissue. The electrified wire can be PTFE or Paralyene coated and then jacketed with PTFE or PET, for example. The electrified wire can be single layer or have a dual layer PTFE jacket or PET or a combination of both. The guidewire can have a pre-kinked or bent section in the middle. This can be accomplished with a slight grind to reduce the diameter, or actually by pre-kinking the wire. The kinked or ground section can be marked with a visible marker band on both sides of the section to facilitate visibility under fluoroscopy. FIG. 19A illustrates positioning of the guide catheter and the electrified guidewire onto the leaflet. FIG. 19B illustrates advancement of the snare catheter, and also illustrates electrification of the exposed distal tip of the guidewire so as to advance the guidewire through the tissue of the valve leaflet.

FIG. 19C illustrates grasping of the electrified guidewire with the snare catheter. FIG. 19D illustrates retraction of the guidewire proximally out of the patient using the snare until two ends of wire are externalized from the introducer sheath. FIG. 20A illustrates advancement of the twisting catheter, which can include a dual lumen elongate core member, with one leg of the guidewire passing proximally along each lumen, over both ends of the electrified guidewire. FIG. 20B illustrates twist the tissue by applying torque to the elongate body of the twisting catheter, which has the effect of applying rotational torque to the loop formed by the guidewire about a longitudinal axis of the catheter. FIG. 20C illustrates continuing to twist the tissue by torqueing the twisting catheter until the leaflet is fully gathered. FIG. 20D illustrates distal advancement of the outer tubular member over the inner twisting catheter over the twisted tissue of the leaflet. The tissue is contained by simply sliding the outer tube of the catheter over the elongate inner body and loop. If a basket is provided at the end of the outer catheter, a snare can be tensioned to cause the distal end of the basket to collapse around the tissue of the leaflet. FIGS. 20E-20F illustrate containment and securing of the tissue within the distal tip of the catheter, wherein 20E illustrates use of a basket, and 20F illustrates use of a uses a polymeric outer tube. The electrified snare is then introduced over the combined twisting and outer catheter until it surrounds the base of the twisted tissue. The snare of the twisting catheter can be partially covered by PET or PTFE to reduce exposed surface area and concentrate energy on the tissue. FIG. 21A shows advancement of the electrified snare over the proximal end of the twisting catheter combination, FIG. 21B illustrates cinching the snare over the tissue to be excised and then electrified to cut the tissue. The snare is then retracted while electrified to complete cutting the tissue (FIG. 21C).

FIG. 21D illustrates aspects of a partially jacketed electrified snare. FIG. 21E illustrates how a small section of inner surface of snare is exposed to permit the outflow of applied power. This exposed section contacts the tissue and focuses the RF energy to that part of the tissue only and prevents inadvertent energy delivery to surrounding tissue. FIGS. 22A-22G illustrate an ex-vivo study with a porcine aorta demonstrating complete excision of an aortic cusp, wherein FIG. 22A illustrates tissue twisted into a catheter, FIG. 22B illustrates an electrified snare positioned over tissue to excise the tissue, FIG. 22C illustrates cutting tissue contained in the catheter, FIG. 22D illustrates the cutting of tissue. FIG. 22E shows the surrounding tissue with the leaflet removed. FIG. 22F illustrates the remaining tissue, and FIG. 22G shows the tissue that was removed.

FIGS. 23A-26C illustrate further implementations of a tissue excision, cutting and removal system. The leaflet crossing wire described above functions as a rail or guide to position the cutting device on the leaflet to be cut. An inner guidewire lumen can be used to distally advance cutting head loops of wire to the edge of the leaflet over the guidewire rail. The cutting head loop of wire can be shaped to take a specific portion of the desired leaflet off to allow for open area for flow near either coronary artery. One cutting head (wire) can be electrified with RF energy or both cutting heads (wires) can be electrified for cutting. If desired, one cutting head loop wire can be electrically exposed and electrified and the other can be insulated. Angled points can be set into the cutting wire to make the cutting wires make positive contact and/or coaptation to ensure a positive burn when the outer delivery catheter is advanced over them during positioning. Placement of the guidewire through the leaflet can allow for removal of the cut portion after cutting. A covering over the opening of the cutting wires may be used to ensure the cut portion of the leaflet is captured in the event of a wire loss and inability to hold the cut portion.

FIGS. 23A-23D illustrate aspects of preparing to use such a system. FIG. 23A issues positioning a guide catheter and electrified guidewire onto the leaflet. FIG. 23B illustrates advancement of a snare to the location where the guidewire exits the leaflet after passing through it. FIG. 23C illustrates grasping of the guidewire with the share, and FIG. 23D illustrates externalization and twisting of the guidewire.

FIGS. 24A-D illustrate a further embodiment of a rail-based leaflet excision and cutting system with modular RF head cutting loops without and with electrical insulation. The delivery catheter for delivering the components can be provided with an expandable tip such as a protection basket for better capturing the leaflet cutting loop. As illustrated, the system includes an outer delivery catheter in the form of a tubular member having a proximal end and a distal end. An inner tubular member can be used to thread the guidewire through after the guidewire has been introduced through the leaflet as illustrated in FIG. 23. This permits the guidewire that passes through the leaflet to be used as a “rail” to drive the delivery catheter over, by sliding the inner tubular member over the ends of the guidewire. The lumen of the inner tubular member can be provided with a sufficient diameter to permit as many as six guidewires to pass through in the event that three leaflets are captured, such as in the case of the tricuspid valve. It will be appreciated that the procedure of FIG. 23A can be reproduced for each of one, two or three leaflets on the same valve. Both ends of the guidewires can be externalized. If desired, a loop can be formed on the proximal end of one or more of the guidewires, and the distal end of the guidewire can be threaded through the loop, and the resulting knot can be pushed down to the leaflet to permit for the inner tubular member of the catheter of FIG. 24 to only need to accommodate three guidewires therethrough instead of six. An intermediate tubular member can be slidably received over the inner tubular member inside of the outer tubular member that includes one, two or three loops mounted at the distal end of the intermediate tubular member. One or more of these loops can be coupled to an electrical power source (RF) at a proximal end of the intermediate tubular member by way of one or more electrical conductors that traverse the length of the intermediate tubular member.

As shown, each loop is coupled at a proximal end to the distal end of the intermediate tubular member by any one of a number of suitable techniques. The wire of each respective loop then travels in a distal direction and completes its path in a loop shape. For example, a loop can be formed from a strand of insulated or uninsulated wire with two proximal ends that can complete an electrical circuit by running electricity along its length. The proximal portions of the loops that extend distally can also be provided with a radially outwardly extending bend such that the wires of the loops first extend radially outwardly, and bend to then extend radially inwardly, to permit the outer tubular member of the delivery system to ramp up on the wires as they bend outwardly so as to impart a radially inward force on the loop or loops to cause the loops to bend inward radially, and grasp and urge against a valve leaflet. FIG. 24D illustrates a side view with the inner tubular member retracted proximally.

FIGS. 25A-25E illustrate the aforementioned system for cutting tissue utilizing a guidewire as described herein as a rail. In one embodiment, a single leaflet system can be advanced over both ends of an electrified guidewire that has been directed through the leaflet as described above in FIG. 23 approximately one third of the way from the edge of the leaflet. FIG. 25B illustrates how the guidewire lumen, or inner tubular member, can be advanced down to the edge of the leaflet and temporarily secured. FIG. 25C illustrates how, while the guidewire lumen is secured against the leaflet, the cutting head can be advanced with the leaflet between cutting elements. With reference to FIG. 25D, once the loop shaped cutting elements are in place, the outer tubular member is then advanced distally over the radially outwardly directed angled points of the loops to press the loops toward each other on other side of the leaflet to create firm pressure against the leaflet. At this point, the cutting elements can be electrified to cut the leaflet and retract the cut portion into the delivery catheter for removal.

FIGS. 26A, 26B, and 26C illustrate examples of differently shaped cutting wires that can be mounted on the distal end of the intermediate tubular member of FIG. 24, wherein one of each pairs of loops is covered in electrical insulation. FIG. 26A illustrates a round loop having a larger removal area. FIG. 26B shows diamond shaped loops, which may facilitate withdrawal of the loops into the delivery catheter, and FIG. 26C depicts oval shaped loops that are smaller in transverse extent than the loops of FIGS. 26A and 26B.

FIGS. 27A-27C depict a similar catheter to that of FIG. 24, but with two electrically exposed cutting loops, used in combination with two crossing guidewires, each being delivered to a separate leaflet using the technique of FIG. 23, and FIGS. 28A-28C depict an embodiment with three cutting loops to cut three leaflets, each of which is similarly captured by a guidewire. However, the loops are configured to splay radially outwardly so their distal end regions can extend out radially to reach the valve annulus. As with the previous embodiments, an inner tubular member of the catheter is threaded along the guidewire(s) passing through the leaflet(s). The cutting loops are advanced distally toward the leaflets and they are configured to splay radially outwardly, so that they contact the valve leaflet near the wall of the vessel. The distal regions of the loops are denuded, such that when they are electrified with RF energy they cut through the leaflets near the valve annulus, preferably in a non-calcified region, and the catheter and electrified loops are rotated about a central axis of the catheter to effectuate the cutting. The routing of the guidewire through each respective leaflet will thus allow for removal of the cut portion of the leaflet after cutting. Insulated portions of the cutting loops will protect and prevent any non-desired portion of the leaflets from being cut.

FIGS. 29A-30D illustrate an implementation with a rotary blade to cut one or more leaflets with a protection basket to capture cut portions of leaflets and prevent emboli. These embodiments are preferably used by capturing each respective leaflet using a guidewire as described above. In this embodiment, the inner tubular member and outer tubular members are essentially the same as the previous embodiment, except that the intermediate tubular member includes a laterally offset blade attached at its distal end that can trace out an annular cutting path when the intermediate tubular member is rotated about the inner member in the valve annulus area. The inner tubular member is once again used to advance the cutting device to the edge of the leaflet over the guidewire rail. A guidewire lumen stopper can be provided at a distal end of the inner tubular member that will restrict the cutting blade from advancing too far through the valve. The rotary cutting blade attached to the intermediate tubular member can be sharpened on one or both sides making it bi-direction. The rotary cutting blade can be electrified with RF energy. The placement of the guidewire can then ensure that the removed section of the leaflet is removed by removing the guidewire that is routed through that portion of the leaflet. Thus, FIG. 30A includes leaflet crossing guidewires to be used as a rail for the leaflet removal device. FIG. 30B illustrates the guidewire lumen placed at the leaflet edges bringing them together. FIG. 30 C illustrates advancement of the cutting blade over the inner tubular member that defines the guidewire lumen up to the end stopper, between or through the leaflet. The blade can be rotated to cut through two leaflets. FIG. 30D depicts a view from underneath the advanced cutting blade which can rotate to cut through the two leaflets.

FIGS. 31A-32 illustrate an example of a guidewire and the use thereof to carry out procedures also described elsewhere in the present application. The depicted guidewire is useful to cut soft tissue. It can be used under fluoroscopic guidance during procedures where tissue cutting or traversal is required. The guidewire typically has two elements that can interact with tissue to effect electrosurgical cutting or traversal. The depicted electrically uninsulated exposed distal tip allows for cutting (perforating and traversing) tissue. In addition, the mid-shaft of the device allows cutting (lacerating) soft tissue as described herein. Implementations of the depicted guidewire preferably include a sterile, single use device intended to cut soft tissue. References to dimensions and other specific information in this Appendix is intended to be illustrative and non-limiting. In one implementation, the disclosed guidewire has an outer diameter of 0.014″ and a working length of 260-300 cm. The proximal end of the disclosed guidewire, which has no patient contact, can be un-insulated to allow for connection to an electrosurgery generator. The electrosurgery generator can be the Medtronic Force FX C Generator that achieves 20 W to 100 Watts of monopolar radiofrequency (RF) energy, for example.

If desired, the disclosed guidewire can include a mid-shaft insulator to protect the operator from electrosurgical energy when the guidewire tip is used for electrosurgical traversal cutting inside the patient. The disclosed guidewire can be accompanied by a detachable spring-loaded connector cable that plugs into the Medtronic Force FX C generator and allows for a secure insulative connection to the generator. The detachable connector allows for fast and easy exchange of catheters over the disclosed guidewire. Two additional accessories can be provided; a wire gripper and a kinker block. The wire gripper can resemble a standard guidewire torquer to assist with guidewire traction when using the mid-shaft surface for electrosurgical cutting. The kinker block can be provided to create a reproducible kink aligned with the un-insulated portion to create a focused cutting surface for laceration. Thus, the illustrated embodiment includes a guidewire, a spring-loaded connector cable, a wire gripper, and a kinker block. FIG. 31A depicts the depicted guidewire with associated cross-sectional views. FIGS. 31A-32 depict images of additional accessories for the disclosed guidewire. A spring-loaded connector cable as depicted in FIG. 31B, a wire gripper (FIG. 31C and a kinker block (FIG. 32) are depicted. There are two cutting surfaces of the illustrated guidewire of FIG. 31A, such as the distal tip and a mid-shaft cutting location approximately 150 cm from the distal tip. The mid-shaft cutting location can be about 5 mm of locally un-insulated stainless-steel guidewire and it is not introduced into the patient unless it is required during the procedure. The mid-shaft cutting surface can be covered by a removable insulator when not in use. The guidewire can be used in conjunction with a guide catheter to access tissue such as a valve leaflet and the distal tip is electrified to puncture through the tissue. The distal tip of the guidewire can be captured by a snare as described above and externalized. The central un-insulated portion of the wire can be intentionally kinked, and advanced to the desired location on the tissue and RF energy can be applied to cut through tissue while exerting traction on the wire.

The guidewire can be composed of a 304V stainless steel guidewire covered with an outer insulative layer. The distal tip, the mid-shaft cutting surface (center section of wire) and proximal end can be denuded of insulation. The mid-shaft cutting surface preferably does not contact the patient during electrosurgery using the distal tip. The distal tip typically does not contact the patient during electrosurgery using the mid-shaft. The proximal end typically does not contact the patient. The generator connector cable, wire gripper, and kink blocker are preferably non-patient contact parts and are constructed of standard materials.

The guidewire of FIG. 31A can be placed through a standard introducer sheath and guided under fluoroscopy to the site of use. The spring-loaded connector cable on the proximal portion of the guidewire can be connected to the RF generator (Force FX C) and the distal tip of the TELLTALE guidewire can be advanced through the tissue. The mid-shaft cutting surface can be intentionally kinked using the kinker block of FIG. 32 and introduced into the patient to allow for tissue cutting using monopolar RF energy. The mid-shaft cutting surface of the TELLTALE guidewire can be temporarily shielded and not introduced into the patient until it is needed during the procedure.

A common application of the guidewire can be BASILICA (Bioprosthetic Aortic Scallop Intentional Laceration to prevent Iatrogenic Coronary Artery obstruction during transcatheter aortic valve replacement). The procedure is performed under general anesthesia or under moderate sedation at the discretion of the institutional heart team. The BASILICA procedure typically has three steps as described elsewhere in this patent application, including (i) leaflet traversal by cutting using the distal guidewire tip, followed by (ii) leaflet laceration by cutting using the guidewire mid-shaft lacerating surface, immediately followed by (iii) TAVR using devices marketed outside the scope of this IDE. These steps are all typically guided by fluoroscopy and adjunctive echocardiography as needed.

First, catheter access is obtained typically via multiple arterial introducer sheaths. At various steps of the procedure, two or four catheters can be used for BASILICA (often with catheter pairs introduced side-by-side into single large-bore introducer sheaths), one for hemodynamics and angiography, and one for TAVR) and at least one venous introducer sheath for temporary transvenous pacing. Anticoagulation with heparin or equivalent achieves an activated clotting time is typically 250-300 s. Cerebral embolic protection devices are employed at the discretion of the operator. Two retrograde catheters are positioned, using a guidewire anchor as needed, in the LVOT and Aorta respectively. Care is taken to avoid entrapment of mitral valvular structures. A snare catheter is positioned in the LVOT. A traversal guiding catheter directs the TELLTALE guidewire against the base of the coronary cusp targeted for laceration, using fluoroscopic and/or echocardiographic guidance.

Traversal cutting is accomplished by transcatheter electrosurgery by connecting the electrically exposed proximal end of the guidewire to a spring-loaded connector cable to facilitate short bursts of “pure, cutting” radiofrequency energy typically at approximately 20 W-50 W. The guidewire is repositioned as needed until it crosses the aortic leaflet and is snare-retrieved and externalized as described above.

Next, the temporary shielding over the exposed region of the middle of the guidewire is removed and the center denuded section of the guidewire is intentionally kinked using a kinker block (e.g., FIG. 32) to enforce its position at the inner curvature of the intended guidewire lacerating surface. The ensnared guidewire is externalized to position the lacerating surface across the base of the leaflet. The kink self-orients the denuded lacerating surface with the leaflet tissue intended to be cut. Nonionic conductive flush (e.g., dextrose 5%) is administered as needed during electrosurgery via the guiding catheters to reduce non-target electrical pathways and to reduce guidewire char and thromboembolism. The BASILICA procedure may be performed on one or two valve leaflets that may threaten coronary artery obstruction.

Laceration cutting can be performed by positioning the laceration (denuded mid-shaft) surface along the intended leaflet base, and applying traction on both free ends of the guidewire with the wire grippers while simultaneously apply electrosurgery energy (typically 50-70 W) in short bursts, until the laceration is complete and the guidewire is free. The guidewire and BASILICA catheters are removed. With the leaflets cut, installation of a TAVR is then performed as usual.

FIGS. 33-78 illustrate examples of further embodiments to carry out procedures also described elsewhere in the present application.

FIG. 33 depicts a first step of a procedure wherein a pachyderm guide catheter is introduced to a target location proximate a tricuspid valve along with a flexible catheter and a JL4 catheter, which is a standard left coronary ostium access catheter, with JL being an abbreviation for Judkins left. Its curve allows for easy placement into the left coronary ostium. A 16 Fr ablation catheter (FIG. 34) can then be used to traverse each of three leaflets in the valve. Tethers from the traversal can be anchored to each leaflet using knots and pledgets as desired (FIGS. 35-36). With reference to FIG. 37, a previously installed Sentinel embolic protection catheter is removed.

FIGS. 38-39 depicts a system including a guiding catheter including a plurality of tubular members, each of which includes a 0.014-inch guidewire having an exposed distal tip that can be electrified to traverse a respective valve leaflet. The catheter system can further include a central stylet with a nose cone configured to receive a 0.035-inch wire therethrough. Each of the tubular members can be angled inside a stent frame (FIG. 40) of an associated TAVR valve that is installed after the leaflets are cut out of the way.

FIG. 41 depicts an introduction path of a guiding catheter that is introduced by way of the IVC into the heart, and a second catheter that is introduced to the aorta by way of femoral access. These access paths can be used to deploy catheter systems for leaflet and tissue excision for an aortic valve illustrated in FIGS. 42-63 by introducing a guidewire along the path of both catheters, completing the path. An elongate distal portion of an inner tubular member of the system is then introduced along the entire path over the guidewire.

After the distal portion of the inner tubular member is introduced, the remainder of the system is deployed by advancing an outer catheter of the system past the aortic valve, and retracting the outer tubular member proximally. First, a distal most capture basket is deployed that occupies space on a downstream side of the aortic valve. This inner basket is attached to the remainder of the system by three conductors coupled to an open rim of the basket, wherein the basket self-expands and is made, for example, of a shape memory material so as to occupy the width of the aorta downstream of the aortic valve. As the outer catheter is retracted proximally, a self-expanding inner basket expands that is attached to the inner tubular member. This inner basket may be used as one pole of a bipolar electrosurgical system, or as an expansion mechanism. The inner basket expands to occupy the aortic valve. The electrosurgical cutting edge is defined on a proximally facing circumferential ridge of the capture basket. The capture basket is energized by energizing the three leads that are coupled to the annular rim of the capture basket, and the capture basket is pulled into the cusps of the aortic valve by pulling on the leads in a proximal direction. If bipolar current is used, the circuit is completed by crossing a gap through the aortic valve leaflets to the inner basket. The basket eventually is pulled proximally enough to surround the inner basket, wherein the inner basket and outer basket cooperate with the inner tubular member of the system to define an annular cavity to collect the severed aortic valve anatomy and debris, trapping the severed materials. As depicted in FIG. 43, the distal end of the inner basket terminates in a Coanda tip shape that extends into the capture basket that enhances flow into the center of the basket and through the system generally so as to permit perfusion. The capture basket can be configured to be detached from the venous access device after the valve leaflets have been captured, or it may be withdrawn into the introduction catheter.

FIGS. 45-48 depict a variation of the system of FIGS. 42-44 that replaces the distal capture basket with one having a dual concentric electrode assembly, wherein an outer electrode (FIG. 46) includes three proximally facing tips to be received within the cusps of the aortic valve located radially outwardly from the leaflets of the aortic valve. An inner electrode (FIG. 48) can be disposed either concentrically within the outer electrode and be attached to the distal assembly, or be disposed on the distal end of the inner basket of FIGS. 42-44 that is introduced into the aortic valve inside the valve leaflets. A circuit is completed between the inner and outer electrodes through the tissue of the valve leaflets. The inner and outer electrodes are advanced proximally as they burn through the tissue. The outer electrode can have a zig zag leading edge that can be rotationally aligned or displaced from the sig zag electrodes of the inner electrode. The arc is completed by the shortest path of travel between the inner and outer electrodes in a bipolar arrangement (FIG. 61). A monopolar arrangement can be effectuated (FIG. 62) by aligning the inner and outer electrodes and completing the circuit through the patient to cut the leaflet material. The outer electrode can be powered by three electrical leads as depicted extending from the proximal end of the device through the IVC path. If desired and as depicted in FIG. 63, the outer electrode can include mechanical cutting edges to help cut through the tissue as the outer electrode is advanced along a proximal direction.

FIGS. 64-78 depict a further leaflet cutting catheter that can be deployed in a “T” shape so as to facilitate making a lateral cut through a valve leaflet. To illustrate this procedure, with reference to FIG. 64, in a first step, a catheter is positioned with a guidewire tip at a desired location of the leaflet. The guidewire is electrified and burned through the leaflet. With reference to FIG. 65, the opening is further traversed by a microcatheter to enlarge the hole in the leaflet. Or, it is also possible to have a dilatation tip on the catheter. With reference to FIG. 66, the “T” is advanced out of the distal tubular end of the catheter attached to an inner catheter having an inner and an outer member with the lacerator in a collapsed elongated position past the leaflet. Next, the lacerator is deployed by withdrawing an inner portion of the lacerator connected to the tip with respect to an outer tubular member of the lacerator. The lacerator is then positioned at the bottom of the leaflet in the desired orientation. The lacerator is then electrified and pulled back to cut through the leaflet. With reference to FIG. 67, the wires of the T-lacerator can be doubled with joints to allow it to collapse easier. The wires of the T-lacerator are insulated except for the exposed or denuded area of wires that are electrified and used to cut through tissue. With reference to FIG. 68, once the first cut is made at the base of the leaflet, the T-lacerator can be re collapsed, re-advanced over the guidewire and re positioned below the leaflet again. The T-lacerator can then be re-opened and positioned orthogonal to the first cut. With reference to FIG. 69, the T lacerator is electrified and at a second longitudinal cut is made in the leaflet. T-shaped lacerations can be accomplished in the aortic leaflet and allows the coronary ostium to be free of obstruction for subsequent TAVR.

FIG. 70 depicts the T-lacerator in a collapsed position, showing the outer shaft. FIG. 71 depicts a dilator tip with a guidewire lumen that has a good transition in stiffness between the guidewire and the T lacerator. FIG. 72 depicts an inner shaft and guidewire lumen that is connected to the distal tip of the T lacerator, and an intermediate tubular member coupled at a distal end to the proximal end of the cutting portion, such that pulling the tip proximally with respect to the intermediate member causes the T-lacerator to deploy. FIG. 73 depicts the T-lacerator in an open or deployed position. FIG. 74 illustrates exposed denuded wires on the proximally facing deployed surfaces of the T-lacerator. FIG. 75 depicts an inner shaft pulled back against the outer shaft to further collapse the cutting wires to make them stiffer. FIG. 76 depicts the collapsed position of the catheter showing the dilator tip with guidewire lumen; the wires of the inner shaft; and the outer shaft. FIG. 77 depicts the device in a partially deployed position illustrating exposed wires and the central guidewire lumen, whereas FIG. 78 depicts the device in a fully deployed configuration. It will be appreciated that while a single circuit is depicted that passes through the entire T-lacerator, it is possible to have a plurality of wires that form the lacerator that are electrically isolated from each other.

FIGS. 79A-81B depict a further implementation of a guidewire gripper that can be used with a Y-Adapter, such as a typical off the shelf Y-Adapter. The guidewire gripper includes an elongate frame or body, illustrated as a rod or shaft. A first end of the gripper includes at least one gripping arm to hold a neck portion of a Y-Adapter in place. The at least one gripping arm is set forth as a flange located at the first end of the gripper that extends laterally outwardly from the main shaft or frame of the gripper and defines a pair of gripping arms. A second end of the frame includes a wire clamp pivotally attached thereto that rotates about a hinge ping that passes through the second end of the frame. In use, the gripping arms of the gripper snap over a neck portion of a Y-adapter (Step 1, FIG. 79C). The guidewire is then inserted through the Y-adapter (Step 2, FIG. 79D). The wire clamp at the second (“proximal”) end of the frame is then rotated up (FIG. 79E) to cause the guidewire to fall into a channel of the clamp of the gripper as illustrated in the cross-sectional views (FIGS. 79G, H). The manual screw can then be advanced into the channel of the clamp to clamp the guidewire in place between a distal face of the screw and a further portion of the clamp, such as a grip plate.

FIGS. 80A-80E illustrates a further kinker or denuder to remove a coating from a guidewire, typically a dielectric coating such as PTFE. The denuder includes two central frame portions joined at a central hinge that, when unfolded into an elongate configuration, defines an elongate wire channel along an upper side of the two central frame portions. Each central frame portion includes a further hinge at an outer end of the central frame portions that are connected by way of a hinge pin to a respective articulating arm that is connected to a respective central frame portion at a first end, and that includes a blade at a second free end thereof. As illustrated, the guidewire is introduced into the elongate channel defined along an upper face of the two central frame portions, the guidewire passing between two hinge bosses at a center of the kinker/denuder. The wire passes along a first lateral side of a first articulating arm, and a second opposing side of the second articulating arm as illustrated in the open position. The kinker/denuder is then closed first by collapsing each articulating arm toward its respective central frame portion. This places the kinker/denuder into the illustrated “closed position”. The kinker/denuder is then folded again about its central hinge to collapse it and to bend the guidewire over onto itself at an acute angle. During this folding process, the guidewire contacts the denuder blades and scrapes the coating from the inside surface of the guidewire and, if so configured, can add a bend, or a kink to the guidewire.

Still a further implementation of a kinker block is depicted in FIGS. 105-114. The kinker block includes a main horizontal body portion coupled at either end by a pin to an upright pivoting arm, wherein each pivoting arm terminates in a pivoting knuckle that in turn includes a blade. The wire is laid in a groove per FIG. 106 and placed in a clamp that is parallel to the horizontal body portion. Per FIG. 107, the blades pivot toward the wire loaded into the groove and clamps, wherein the blades contact the wire at an outer edge of the denuding region (FIG. 108). The blades begin moving toward the center as pressure is continued to be applied to the outer top sections (FIG. 109). The blades then meet in the center and pressure is then directed downward to initiate formation of a kink in the wire (FIG. 110). FIGS. 111-113 illustrate the kinking process and FIG. 114 illustrates the kinked denuded wire in the kinker after the operation is completed.

FIGS. 81A-81B includes two embodiments of a guidewire, similar to other embodiments herein that each include a denuded proximal end and a denuded distal end to permit the wire to burn through tissue by way of its distal tip when it is electrified. The distal end region of the wire includes a platinum coil placed over the distal seven centimeters of the core wire, and that in turn is coated with an electrically insulating layer, with the exception of the distal tip of the wire, such as the last 1.5 mm of the wire. If desired, the second variation shows a denuded region about 5 mm long that is about 150 cm from the distal tip to permit an electrified procedure to be performed at the location of the denuded region. The devices and methods of the Appendix can be used to help effectuate the procedures set forth herein.

FIGS. 82A-103 Illustrate various techniques for repairing or adjusting the performance of luminal valves, such as (but not limited to) procedures for transcatheter trileaflet tricuspid repair. It will be appreciated that the disclosed devices and techniques can be used on any valve structure having leaflets. The below illustrative description is not intended to be limiting. Rather, this description is intended to present particular non-limiting implementations. Thus, disclosed in this embodiment are methods of repairing or adjusting the performance of a valve structure as described and devices for repairing or adjusting the performance of a valve structure as described.

Disclosed are low profile transvenous access systems (e.g. compatible with an 18F or greater introducer sheath) in the form of a transfemoral venous system. The system can use multi-axial deflectable guiding sheaths that has two or more coaxial shafts that are deflectable, an outer shaft to navigate through the inferior vena cava to the right atrium and then through the tricuspid valve having, for example, a 10F outer diameter and a 100 cm effective length. The system can further include an inner shaft to navigate to the apical surface of the leaflets having, for example, an 8F outer diameter and about a 110 cm effective length. The system further includes a leaflet traversal tool to cross through the leaflets from the apical side to the atrial side. The traversal tool can, for example, include an 0.014″ outer diameter guidewire, utilize the transmission of radiofrequency (RF) energy to electrify the length of the traversal tool, have an electrically insulative polymer coating along the effective length, except for at the distal tip to delivery energy to the leaflet tissue to aid in traversing the tissue. At the proximal end the guidewire connects to a RF generator. The guidewire preferably has, for example, a 300 cm effective length, an electrosurgical connector to facilitate the connection between the leaflet traversal tool and the RF generator. The connector can be electrically shielded to deliver 5-60 Watts of RF energy through the effective length of the traversal tool, for example, have a spring-loaded mechanism to securely hold the electrified traversal tool in place, and be compatible with conventional electrosurgical generators, such as the Medtronic Valleylab FX.

The system further preferably includes a retrieval tool to deliver a device to snare the traversal tool, once it has crossed through the leaflet, in order to externalize it. The retrieval tool can have, for example, a 6 F outer diameter, a snare to capture the traversal tool, such as a self-expanding, three-dimensional basket to allow for easy capture or a gooseneck-type snare for easy positioning on the atrial side of the leaflet. The system preferably includes a guidewire to suture “connector” to deliver a means of connecting the traversal tool with the radiopaque tension elements for their exchange. This connector should be easy and quick for physicians to engage, withstand high tensile forces (such as ˜20 N per ISO 10555). Radiopaque tension elements can be delivered, such as radiopaque material loaded sutures, to exchange with the traversal wire to tension the regurged leaflets together. The radiopaque tension elements can be provided in a quantity of three independent elements, be non-absorbable, have mechanical and biological properties (tensile strength, strength retention, tissue reaction/thrombogenicity) similar to commercially available sutures, have different colors to help to identify individual leaflets during tension adjustment, and have a minimal length of 300 cm. The system should also include a radiopaque force-distribution element such as a pledget loaded with radiopaque material to prevent the tension elements from pulling-through the leaflets. The tension elements should have a foldable design feature to allow for easy delivery through the guide sheath, and be about 4×3 mm in size. Radiopaque and echogenic landmarks can also be provided for real-time image guidance to deliver the system, such as radiopaque marker bands and echogenic coils. These can be located, for example, at distal tips of the devices, and at specific increments along the length of the tension elements to aid in estimating distance.

The system is also preferably biocompatible per ISO 10993 and that has at least three points of apposition with tri-leaflets, delivering a system that deploys at least one tension element per leaflet. The system also preferably provides adjustable transcatheter suture fixation, and includes a mechanism that secures and maintains the tension delivered to all three leaflets by the tension elements. The transcatheter suture fixation can allow for secure and permanent fixation of the pledgeted suture tension elements. allow for adjustment of tension, reversal of tension, and full retrieval after application, be corrosion resistant, and be relatively easy to engage.

The system should also include a transcatheter suture cutter such as that provided in U.S. Pat. No. 10,433,962, which is incorporated by reference herein in its entirety for all purposes. Preferably, this device easily cuts through three sutures, and is corrosion resistant.

In accordance with the disclosure, the method can include placing a radiopaque suture through each leaflet, at least 0.5 cm to 1 cm away from the edge of the leaflet, with a radiopaque pledget on the apical side. The sutures can be tensioned together towards the center of the valve to reduce tricuspid regurgitation by effectively attaching the valve leaflets to each other. Then tension will then be maintained with a fastener, such as a lock as set forth in U.S. Pat. No. 10,433,962 that uses an associated lock delivery catheter.

FIG. 82A-C. depict the steps undertaken to effect transcatheter tri-leaflet tricuspid suture repair demonstrated in a benchtop, anatomical model of the tricuspid valve. FIG. 82A shows the tricuspid regurgitation model. FIGS. 82B and 82C respectively show the reduction of TR using three pledgeted sutures that are tensioned and locked together. FIG. 82C illustrates the apical side of the leaflets to display the pledgets that distribute the applied tension forces.

In further accordance with the disclosure, the profile of the disclosed devices within this system, and the interaction of multiple devices, can be compatible with a transfemoral introducer sheath through the right femoral vein. Multi-axial deflectable guiding sheaths can be provided. For example, a guide sheath can be used for ensuring that physicians can navigate to the necessary target sites. This guide sheath can have a minimum of two coaxial shafts that are each deflectable to provide 360° access in the tricuspid valve and around its leaflets at various radii. The outer shaft can have, for example, a 10F profile and a 100 cm effective length. The disclosed inner shaft can have, for example, an 8F profile and a 110 cm effective length.

FIGS. 83A-83B display an example of a distal end device Specifically, a leaflet traversal tool can be used for navigating to the necessary target sites for this tri-leaflet repair procedure. Having a traversal tool, such as an electrified guidewire, allows for the puncture or crossing of the leaflets which facilitates the points of apposition necessary to reduce TR. Using radiofrequency energy transmission, one can use an 0.014″ guidewire with a polymer coating (that has a high dielectric constant for insulating properties and a low friction coefficient for lubricity, for example PTFE) along the effective length of e.g., 300 cm, except at the distal tip (1-2 mm) and the proximal end (for connection into an RF generator). This electrified wire can be used to allow for transfemoral navigation up the IVC to the tricuspid valve, then can be electrified to puncture across the leaflets. The wire can be snared (using the retrieval tool, discussed below) and externalized back down the IVC to exit the transfemoral access sheath. For ease of navigation, this traversal wire can have mechanical properties similar to the Asahi Astato XS 20 or XS 40 guidewires.

FIG. 84. Illustrates an electrified leaflet traversal tool traveling through the guide sheaths. In order to transmit RF energy from an RF generator to the traversal wire, an electrosurgical connector can be used. This connector can plug into the generator, such as a Medtronic Valleylab FX, with a RF compatible plug and then have a spring loaded, female connection for the exposed, proximal end of the traversal wire to ensure a secure connection between the two. The connector can be electrically shielded to deliver 5-60 Watts of RF energy through the length of the traversal wire to the exposed distal tip. FIG. 85 depicts a Medtronic Valleylab FX RF generator with a prototype of an electrosurgical connector. This prototype can be scaled to fit the leaflet traversal tool used in this example.

With reference to FIGS. 86A-86C, a retrieval tool in the form of a capture basket is provided. The retrieval tool completes the traversal pathway and externalizes the traversal wire to facilitate its exchange with tension elements. A snare catheter can be, for example, 6 F. As illustrated in FIGS. 86A-C. a retrieval tool is provided displaying the distal end region thereof, having a three-dimensional capture basket. The basket can have multiple configurations, such as those depicted in U.S. Pat. No. 10,433,962.

In order to facilitate the exchange of the traversal wire with the radiopaque tension elements, a secure connection should be formed between the two. FIG. 87 depicts an example of a crimp prototype for attaching a guidewire to a radiopaque suture, such as those depicted in U.S. Pat. No. 10,433,962.

Incorporating radiopaque tension elements can help maintain points of apposition of the device with the leaflets, as well as maintain the tension applied to the leaflets in order to reduce TR. It is possible to use a non-absorbable suture design with mechanical properties similar to commercially available sutures such as the Goretex CV-4. The tension elements can have a radiopaque core, such as including one or more of platinum, tungsten, tantalum, BaSO4 loaded Pebax, and the like for enhancing visibility under fluoroscopy and echocardiography layered under various outer layers, such as PET suture, to ensure that the tension element can withstand high tensile forces. Depending on the performance needs (often determined during acute animal studies), the tension element could take on one of a few different layered constructions. Additional radiopaque suture materials are disclosed in U.S. Pat. No. 10,433,962. Each suture (anterior, posterior, septal) can have a different color or other indicia such as radiopaque patterns to help physicians quickly determine which suture to select when adjusting the tension on each leaflet. The sutures can have a minimum length of 300 cm so they can easily be exchanged through the leaflet and externalized. FIG. 88. depicts a) 80% Tungsten Loaded 53 D Tecoflex (0.014″). b) 99.99% Pure Platinum Wire (0.004″). c) 99.95% Pure Platinum Wire (0.006″). d) 99.95% Pure Platinum Wire (0.008″). e) 99.95% Pure Platinum Wire (0.010″). f) 90%/10% Platinum Iridium Wire (0.013″).

Force-distribution elements can be provided distribute the tension applied to the leaflets to avoid and resist tension element pull-through, such as a radiopaque pledge. The pledgets can be constructed by encapsulating a radiopaque material as described above between two pieces of medical fabric, such as PET. The pledgets can be around a size of about 4 mm L×3 mm W and have a folding design feature to ensure that they can be delivered through the multi-axial deflectable guide catheters. FIG. 89 depicts an illustrative radiopaque, pull-through resistant pledget.

Adjustable transcatheter suture fixations can be provided such as those depicted in U.S. Pat. No. 10,433,962. Tension element fixation facilitates delivering secure and permanent fixation of the pledgeted sutures that are under tension. A transcatheter suture fixation system that allows for adjustability (e.g. fix and release multiple times without damaging sutures, withstand a range of tensile forces) can be used for this disclosed procedure so the physician can titrate the amount of tension being applied to the leaflets. This can allow for reversal or full retrieval after application, if necessary, which is an important safety feature. The fixation system can include, for example, a locking mechanism or a knot, among others. A lock can be made from a biocompatible, MRI-safe material, such as titanium, which can also provide visibility under fluoroscopy and echocardiography. The lock preferably easily fits through a low-profile introducer sheath. FIG. 90 depicts an illustrative suture lock to fixate two sutures. The lock can similarly be configured to accommodate three sutures. FIG. 91 depicts an illustrative “knot pusher” that can advance different half-hitch knots for straight distances up to a range of 30 cm.

Once the pledgeted sutures (tension and force-distribution elements) are deployed through the leaflets, under the appropriate tension, and are locked in place, the excess length of suture that are externalize out of the introducer sheath need to be cut and removed using, for example, suture cutters such as those depicted in U.S. Pat. No. 10,433,962. Preferably, the cutter is visible under fluoroscopy and echo-cardiography. The blade of the suture cutter can be corrosion resistant and have a level of hardness that allows all three sutures to be easily cut at the same time. The effective length cab be in a range of 120 cm to 140 cm, for example, in order to fit through the longest length guide catheters available on the market. FIG. 92 depicts an illustrative example of such a suture cutter that can be modified to be flexible and longer for transfemoral use and can be updated to cut three sutures.

Radiopaque and echogenic landmarks can be provided for real-time image guidance. Incorporating radiopaque and echogenic landmarks ensure that the physician can visualize the repair system during this procedure. For fluoroscopy, there can be landmarks, such as platinum iridium marker bands, in areas like the distal tips of delivery systems, at specific increments along the tension elements to allow the physician to estimate distance, and at the distal tips of the traversal tool and retrieval tool. Biocompatibility is important for these landmarks as the host or patient tends to be exposed to these materials both short-term and permanently. The inner shaft of the guide sheath can have a distinct echogenic feature at the tip for visibility under echocardiography. This can provide visualization during the leaflet traversal and puncture process. An echogenic feature, such as a segmented coil, can allow the physician to make contact between the inner shaft and the apical surface of the leaflet to facilitate leaflet traversal.

By providing at least three points of apposition for the tri-leaflets, it is ensured that the design for a transcatheter trileaflet tricuspid suture repair system can maintain at least one point of apposition with each leaflet, which can facilitate the reduction of TR. The disclosed systems and methods fulfill this by deploying a radiopaque pledgeted suture in each leaflet of the tricuspid valve. This is made possible by the purpose-built guide catheter that provides a 360° reach when navigating the valve. It will be appreciated that less points of apposition (e.g., two) can be used, and that three points is preferred. Likewise, these techniques can be used on other valve structures such as the mitral valve, pulmonary valve, and the like.

To provide insight as to how the designs detailed above can be used to treat TR, the procedure can have the following aspects. The procedure is preferably performed under anesthesia and mechanical ventilation. Fluoroscopy can be the main imaging modality for guiding or navigating during the procedure, while echocardiography will be used to determine the crossing site location on the tricuspid trileaflets and will be used to assess pre- and post-deployment TR.

Transvenous access can be established in the right femoral vein with a low-profile introducer sheath. Access to the right atrium can be achieved with Applicant's guide catheter through the inferior vena cava. The outer shaft of the guide catheter can be articulated and traversed through the tricuspid valve; the inner shaft can be articulated further back upwards toward the leaflets. FIGS. 93A-B depict a guide catheter traveling up an IVC to a right atrium and through the tricuspid valve. The inner shaft can be articulated towards the apical surface of the leaflets. The wire capture snare can be introduced through the sheath and navigated through the IVC to the right atrium. The wire capture basket can be deployed directly above the atrial surface of the trileaflet.

An electrified traversal wire can then be introduced and advanced through both shafts of the guide catheter until it apposes the apical side of one of the trileaflets. The traversal can be performed from the apical side to the atrial side of the leaflet to take advantage of the leaflets' natural, concave down shape; it is easier to traverse the leaflet in this fashion rather than from the atrial side down, which could cause slipping of the traversal wire.

Once the crossing site is confirmed using echocardiography (e.g. a calcium free zone between 0.5 cm and 1 cm from the center edge of the leaflet), power can be delivered through the guidewire to the site to aid in traversing the leaflet tissue. The deployed wire capture basket can ensnare the traversal wire and externalize it down the IVC and out of the introducer sheath. FIGS. 94A-C depict a wire capture basket deployed with the traversal wire crossing through the basket (left), the traversal wire ensnared in the wire capture device (middle), and the traversal wire crossed through the leaflet with both ends externalized out of the introducer (right).

A suture loaded with a pledget can be exchanged with the traversal guidewire to be deployed through the trileaflet until the unpledgeted end of the suture is externalized. FIG. 95 illustrates delivery of pledgeted suture from the guide sheath. This whole process is repeated until each leaflet is tethered with a pledgeted suture. The sutures can be tensioned together, and can be fixated using a lock mechanism. Echocardiography can be used to assess the tension on the tricuspid tri-leaflets. Once the lock is placed, the sutures can be cut using a transcatheter suture cutter, which completes the implantation of the transcatheter trileaflet tricuspid suture repair system. FIGS. 96 (and 104) depicts tricuspid tri-leaflets tensioned with pledgeted sutures (left) and locked into place (right) reducing TR.

Previous relevant techniques include the Alfieri “clover technique” and PASTA (Pledget-Assisted Suture Tricuspid Annuloplasty). The “clover technique” is a surgical repair typically performed on a regurgitant tricuspid valve that sutures together the middle point of the free edges of the leaflets to create a “clover” shape. FIG. 97 depicts the “clover technique” (suturing together the middle point of the free edges of the tricuspid leaflets) for the treatment of TR. FIG. 98 depicts a MitraClip (Abbott Vascular, Santa Clara, Calif.), which is a percutaneous mitral valve repair using anterior-posterior edge-to-edge direct leaflet approximation. FIG. 99 depicts an E. PASTA overview viewed from the ventricles: (A) A dilated tricuspid valve annulus, and (B) a double orifice valve created by PASTA pledgeted sutures between the postero-septal and mid-anterior annulus. MRI images before (C) and after (D) PASTA demonstrating reduced annular dimension from 10.4 cm 2 to 2.9 cm 2. (E) Necropsy 30 days after PASTA, viewed from the atrium. S 5 septum; A 5 anterior annulus; P 5 posterior leaflet.

Devices were designed and built to allow transcatheter mitral repair through cerclage annuloplasty procedure. Applicant's innovations from this project include, for example, a guidewire capture snare that uses a three-dimensional capture basket to snare and externalize various sized guidewires with ease (FIG. 100), a radiopaque implant tether that is tensioned and secured extrinsically around the mitral valve with a novel locking mechanism (FIG. 101), a lock, and delivery system, that can fix multiple sutures under high tension and is adjustable and removable (FIG. 102), and a percutaneous suture cutter that can cut implanted, radiopaque sutures at various lengths (FIG. 92). The devices can be used as set forth herein to accomplish an edge-to-edge repair of tricuspid regurgitation (TR) (FIG. 103; wherein A, TR before clip implantation. B, Grasp of the anterior and posterior tricuspid valve leaflets. C, Transgastric view during diastole showing 3 clips in place and a bicuspidized tricuspid valve. D, 3-dimensional (3D) en-face view after Clip implantation. E, Residual TR. F, Sketch of the procedural strategy. A indicates anterior tricuspid valve leaflet; AV, aortic valve; CS, coronary sinus; P, posterior leaflet; and S, septal leaflet. *Clip device).

The devices and methods disclosed herein can be used for other procedures in an as-is condition, or can be modified as needed to suit the particular procedure. In view of the many possible embodiments to which the principles of this disclosure may be applied, it should be recognized that the illustrated embodiments are only preferred examples of the disclosure and should not be taken as limiting the scope of the disclosure. Each and every patent and patent application referenced herein is expressly incorporated by reference herein in its entirety for any purpose whatsoever. 

What is claimed is:
 1. A catheter comprising: an elongate member having a collapsible basket mounted thereon having an open distal facing end, the distal facing end being selectively collapsible by applying tension to an actuator; and a deployable cutting snare loop, wherein a user can use the basket to at least partially surround an object attached to a tissue mass, collapse the basket around the object by applying tension to the actuator, and then sever the tissue mass by cutting through the tissue mass with the deployable cutting snare loop.
 2. The catheter of claim 1, wherein the cutting step is accomplished at least in part by withdrawing the cutting snare loop into an elongate tubular member, wherein the elongate tubular member has a distal end proximate the distal end of the collapsible basket.
 3. The catheter of claim 1, wherein the collapsible basket can be moved distally with respect to the cutting snare loop to permit the collapsible basket to be maneuvered around the object.
 4. The catheter of claim 1, wherein the elongate member slides along the outside of a tubular member that houses the cutting snare.
 5. The catheter of claim 1, wherein the collapsible basket is formed from a laser cut hypotube formed into a stent-like pattern defined by zig-zag rows of struts.
 6. The catheter of claim 5, further comprising a cinching tether woven through fenestrations defined about the open distal facing end of the collapsible basket, wherein application of tension to the cinching tether causes the collapsible basket to collapse.
 7. The catheter of claim 1, wherein a proximal end of the collapsible basket is fastened to the elongate member by a radiopaque marker band and the elongate member further includes a second radiopaque marker at a distal end of the elongate member.
 8. A method of removing a mitral clip coupled to two native mitral valve leaflets, comprising: providing a catheter according to claim 1; sliding the deployable cutting snare loop around the mitral clip; advancing the mitral clip to a portion where it adjoins native valve tissue; at least partially surrounding the mitral clip with the collapsible basket; collapsing the basket around the mitral clip to grip the mitral clip; severing the mitral clip from the native valve tissue by cutting the native valve tissue with the deployable cutting snare loop; and removing the mitral clip from the patient.
 9. The method of claim 8, wherein the procedure is performed percutaneously.
 10. The method of claim 8, wherein the procedure is performed apically.
 11. The method of claim 8, wherein the procedure is performed while the patient's heart is still beating.
 12. A catheter including an outer tubular member with at least one sharpened distal protrusion, and an inner elongate member including a tissue grasper, wherein the tissue grasper can be advanced distally out of a distal end of the tubular member to grasp tissue, and further wherein the at least one sharpened distal tip can be used to cut through tissue by rotating the outer tubular member about a central axis of the outer tubular member.
 13. The catheter of claim 12, wherein the outer tubular member includes a laser cut hypotube.
 14. The catheter of claim 12, wherein the inner elongate member includes a tubular member having an inner elongate member disposed slidably therein, wherein the tissue grasper is coupled to a distal end of the inner elongate member, and the grasper includes a plurality of radially outwardly biased gripping arms, wherein the claws collapse when the inner elongate member is withdrawn proximally into the tubular member.
 15. The catheter of claim 14, wherein each said gripping arm is formed from a planar strip of material that terminates in a radially inwardly converging distal tip and includes proximal end affixed to a distal end of the inner elongate member, and a preformed bend that bends the arm radially outwardly, and then bends radially inwardly as the arm approaches a tapered distal tip.
 16. The catheter of claim 12, further comprising an outer delivery catheter into which the outer tubular member can be withdrawn.
 17. A method of using the catheter to remove a mitral clip, comprising: providing a catheter according to claim 12; advancing a distal end of the catheter to a mitral clip attached to a pair of native mitral valve leaflets; distally extending the gripper to surround the mitral clip; grasping the mitral clip with the gripper to hold the mitral clop in place; advancing the at least one sharpened distal tip against the valve tissue to be cut; and rotating the outer tubular member about the central axis of the outer tubular member to cut the mitral clip away from the valve tissue.
 18. The method of claim 18, further comprising retracting the mitral clip into the outer tubular member to entrap the mitral clip, and removing the mitral clip from the patient.
 19. The catheter of claim 1, wherein the deployable cutting snare loop is coupled to an electrical power source to electrify the cutting snare loop. 